U.S. patent application number 17/417083 was filed with the patent office on 2022-02-17 for bill handling system.
The applicant listed for this patent is Japan Cash Machine Co., Ltd.. Invention is credited to Ryouishi Imanaka, Keiho Imanishi, Takeshi Ohama, Shuichi Yoshida.
Application Number | 20220051506 17/417083 |
Document ID | / |
Family ID | |
Filed Date | 2022-02-17 |
United States Patent
Application |
20220051506 |
Kind Code |
A1 |
Imanishi; Keiho ; et
al. |
February 17, 2022 |
BILL HANDLING SYSTEM
Abstract
There is provided a bill handling system (1) including a camera
(440), a grasping unit (430), and a control unit (100) for
photographing the inside of the cashbox (10) by the camera (440)
after a bill (B) in the cash box (10) is taken out by the grasping
unit (430), determining whether or not a bill (B) remains in the
cash box (10) based on the photographed image, and performing error
processing when the bill (B) remains in the cash box (10).
Inventors: |
Imanishi; Keiho; (Kyoto,
JP) ; Yoshida; Shuichi; (Osaka, JP) ; Imanaka;
Ryouishi; (Kyoto, JP) ; Ohama; Takeshi;
(Osaka, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Japan Cash Machine Co., Ltd. |
Osaka |
|
JP |
|
|
Appl. No.: |
17/417083 |
Filed: |
October 16, 2019 |
PCT Filed: |
October 16, 2019 |
PCT NO: |
PCT/JP2019/040675 |
371 Date: |
June 21, 2021 |
International
Class: |
G07D 11/26 20060101
G07D011/26; G07D 11/12 20060101 G07D011/12; G07D 11/40 20060101
G07D011/40; B25J 13/08 20060101 B25J013/08; B65H 43/04 20060101
B65H043/04; B65H 43/02 20060101 B65H043/02; G07D 7/181 20060101
G07D007/181 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 13, 2019 |
JP |
2019-023102 |
Claims
1-11. (canceled)
12. A bill handling system, comprising: a camera; a grasping unit;
and a control unit for: photographing inside of a cash box by the
camera after the bill is taken out by the grasping unit,
determining whether or not a bill remains in the cash box based on
a photographed image, and performing error processing when a bill
remains in the cash box.
13. The bill handling system according to claim 12, wherein the
control unit, as error processing, determines whether or not the
bill remaining in the cash box can be taken out by the grasping
unit based on the photographed image, and performs again the
processing of taking out the bill from the cash box when it is
determined that the bill remaining in the cash box can be taken out
by the grasping unit and outputs an error notification when it is
determined that the bill remaining in the cash box cannot be taken
out by the grasping unit.
14. The bill handling system according to claim 12, wherein the
control unit, as error processing, determines whether or not the
bill remaining in the cash box can be automatically taken out by
the grasping unit or other device based on the photographed image,
and executes a process of automatically taking out the bill
remaining in the cash box by the grasping unit or other device when
it is determined that the bill remaining in the cash box can be
automatically taken out by the grasping unit or other device and
outputs an error notification when it is determined that the bill
remaining in the cash box cannot be automatically taken out by the
grasping unit or other device.
15. The bill handling system according to claim 13, wherein the
control unit utilizes machine-learned models trained by artificial
intelligence to determine whether or not the bill remaining in the
cash boxes can be taken out.
16. The bill handling system according to claim 12, wherein the
control unit, as error processing, interrupts the processing of
taking out bills from the cash box and outputs an error
notification.
17. The bill handling system according to claim 12, further
comprising: an acquiring unit for acquiring identification
information of the cash box, wherein, when the bill remains in the
cash box, the control unit accumulates information indicating that
the bill remains in the cash box in association with the
identification information.
18. The bill handling system according to claim 12, further
comprising: an acquiring unit for acquiring identification
information of the cash box, wherein the control unit determines
whether or not the bill remains in the cash box by using the
identification information based on the photographed image.
19. The bill handling system according to claim 12, wherein when
the bill in the cash box is taken out by the grasping unit, the
control unit photographs the inside of the cash box by the camera,
determines the degree of wrinkling or damage of the bill in the
cash box based on the photographed image, and determines the
withdrawal speed of the bill.
20. The bill handling system according to claim 12, wherein the
control unit utilizes a machine learning model trained by
artificial intelligence to determine whether the bill remains in
the cash box.
21. The bill handling system according to claim 12, wherein, while
the bill in the cash box is being taken out by the grasping unit,
the control unit photographs the inside of the cash box by the
camera, determines whether or not the bill is being taken out
normally based on the photographed image in the middle, and
performs again the bill taking out process when the bill is not
being taken out normally.
22. The bill handling system according to claim 21, wherein the
control unit utilizes a machine learning model trained by
artificial intelligence to determine whether or not the bill is
being taken out normally.
23. A bill handling system, comprising: a camera; a grasping unit;
a control unit for: photographing inside of a cash box by the
camera after the bill is taken out by the grasping unit,
determining whether or not a bill remains in the cash box based on
a photographed image, and performing error processing when a bill
remains in the cash box; and an acquiring unit for acquiring
identification information of the cash box.
24. The bill handling system according to claim 23, wherein the
control unit, as error processing, determines whether or not the
bill remaining in the cash box can be taken out by the grasping
unit based on the photographed image, and performs again the
processing of taking out the bill from the cash box when it is
determined that the bill remaining in the cash box can be taken out
by the grasping unit and outputs an error notification when it is
determined that the bill remaining in the cash box cannot be taken
out by the grasping unit.
25. The bill handling system according to claim 23, wherein the
control unit, as error processing, determines whether or not the
bill remaining in the cash box can be automatically taken out by
the grasping unit or other device based on the photographed image,
and executes a process of automatically taking out the bill
remaining in the cash box by the grasping unit or other device when
it is determined that the bill remaining in the cash box can be
automatically taken out by the grasping unit or other device and
outputs an error notification when it is determined that the bill
remaining in the cash box cannot be automatically taken out by the
grasping unit or other device.
26. The bill handling system according to claim 24, wherein the
control unit utilizes machine-learned models trained by artificial
intelligence to determine whether or not the bill remaining in the
cash boxes can be taken out.
27. The bill handling system according to claim 23, wherein the
control unit, as error processing, interrupts the processing of
taking out bills from the cash box and outputs an error
notification.
28. The bill handling system according to claim 23, wherein, when
the bill remains in the cash box, the control unit accumulates
information indicating that the bill remains in the cash box in
association with the identification information.
29. The bill handling system according to claim 23, wherein, the
control unit determines whether or not the bill remains in the cash
box by using the identification information based on the
photographed image.
30. The bill handling system according to claim 23, wherein when
the bill in the cash box is taken out by the grasping unit, the
control unit photographs the inside of the cash box by the camera,
determines the degree of wrinkling or damage of the bill in the
cash box based on the photographed image, and determines the
withdrawal speed of the bill.
31. The bill handling system according to claim 23, wherein, while
the bill in the cash box is being taken out by the grasping unit,
the control unit photographs the inside of the cash box by the
camera, determines whether or not the bill is being taken out
normally based on the photographed image in the middle, and
performs again the bill taking out process when the bill is not
being taken out normally.
Description
TECHNICAL FIELD
[0001] The present invention relates to a technique for a bill
handling system for automatically taking out bills in a cash
box.
BACKGROUND ART
[0002] Conventionally, a bill handling system for conveying and
arranging bills has been known. For example, Japanese Patent
Laying-Open No. S62-92095 (Patent Literature 1) discloses a cash
processing apparatus with joint type robot incorporated. According
to Patent Literature 1, there is provided a cash processing
apparatus with joint type robot incorporated, having a bill input
and collection unit having a mechanism for collecting and
transferring input bills to a robot hand, a bill count and bill
confirmation unit having a mechanism for dividing bills received
from the robot hand into the number and type of bills, a cash
cassette unit having a mechanism for storing bills from the robot
hand and a mechanism for extracting bills from the unit and
transferring them to the robot hand, a bill counter unit for
extracting bills from the robot, checking the number of bills and
transferring to the robot, a bill dispensing unit for extracting
bills from the robot and for transferring bills to the dispensing
port, and a mechanism for transferring bills with a
multi-articulated robot between the respective units.
[0003] Japanese Patent Laying-Open No. 2016-31619 (Patent
Literature 2) discloses a storage work apparatus, a valuable medium
storage system, and a storage work method. According to Patent
Literature 2, the work robot images the appearance of the cassette
by a camera provided on the head, to identify the type of cassette
by image processing. The work robot opens the cassette by a jig and
a procedure according to the type of cassette, captures the inside
of the cassette, and detects the abnormality by image processing.
In addition, the work robot captures an image of the bill sorting
machine, identifies bills that can be taken out by image
processing, takes out bills from the bill sorting machine, stores
them in the cassette, and closes the cassette by a jig and a
procedure according to the type of the cassette.
[0004] Japanese Patent Laying-Open No. 2016-224664 (Patent
Literature 3) discloses a valuable medium processing system and a
valuable medium processing method. According to Patent Literature
3, in the bill processing system, the work robot holds and moves
the bundle of bills bound by the banding to the position where the
banding can be removed by the bundle opening unit. The bundle
opening unit cuts and removes the banding of the bundle of bills.
The work robot stores the bundle of bills in the cassette. The
bundle of bills bound by the banding can be used for replenishing
the bills to the cassette, and the bills can be efficiently stored
in the cassette.
CITATION LIST
Patent Literature
[0005] PTL 1: Japanese Patent Laying-Open No. S62-92095
[0006] PTL 2: Japanese Patent Laying-Open No. 2016-31619
[0007] PTL 3: Japanese Patent Laying-Open No. 2016-224664
SUMMARY OF INVENTION
Technical Problem
[0008] An object of the present invention is to provide a technique
for reducing a problem that occurs when a bill remains in a cash
box.
Solution to Problem
[0009] A bill handling system according to one aspect of the
present invention includes a camera, a grasping unit and a control
unit for photographing inside of a cash box by the camera after the
bill is taken out by the grasping unit, determining whether or not
the bill remains in the cash box based on a photographed image, and
performing error processing when the bill remains in the cash
box.
Advantageous Effects of Invention
[0010] As described above, according to the present invention,
there is provided a technique for reducing a problem caused when a
bill remains in a cash box.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a plan view of a bill handling system 1 according
to First Embodiment.
[0012] FIG. 2 is a front view of a bill handling system 1 according
to First Embodiment.
[0013] FIG. 3 is a functional block diagram of a bill handling
system 1 according to First Embodiment.
[0014] FIG. 4 is an image diagram showing an error data 125
according to First Embodiment.
[0015] FIG. 5 is a flowchart showing a processing procedure of the
entire bill handling control according to First Embodiment.
[0016] FIG. 6 is a perspective view of a cash box 10 according to
First Embodiment.
[0017] FIG. 7 is a perspective view of a first arm 300 according to
First Embodiment.
[0018] FIG. 8 is a perspective view of a second arm 400 according
to First Embodiment.
[0019] FIG. 9 is a perspective view of a cash box 10, when a lid 11
is opened, according to First Embodiment.
[0020] FIG. 10 is a flowchart showing a processing procedure of the
bill extraction control according to First Embodiment.
[0021] FIG. 11 is a perspective view of a cache box 10 and the
second arm 400, when the edge of the bill is grasped, according to
First Embodiment.
[0022] FIG. 12 is a perspective view of a cashbox 10 and a second
arm 400, when the bill has been pulled out, according to First
Embodiment.
[0023] FIG. 13 is a flowchart showing a processing procedure of the
bill extraction control according to Third Embodiment.
[0024] FIG. 14 is a flowchart showing a processing procedure of the
bill extraction control according to Fourth Embodiment.
DESCRIPTION OF EMBODIMENTS
[0025] Embodiments of the present invention are described below
with reference to the accompanying drawings. In the following
descriptions, like elements are given like reference numerals. Such
like elements will be referred to by the same names, and have the
same functions. Accordingly, detailed descriptions of such elements
will not be repeated.
First Embodiment
Overall Composition of Bill Handling System 1
[0026] As shown in FIGS. 1 to 3, the bill handling system 1
according to the present embodiment mainly includes a controller
100, a transporter 200, a first arm 300, a second arm 400, a bill
aligner 500, a bill sorter 600, a third arm 700, a strapper 800,
and a storage box 900. In the present embodiment, the transporter
200, a first arm 300, a second arm 400, a bill aligner 500, a bill
sorter 600, a third arm 700, the strapper 800, and the storage box
900 is placed on top of the base 50. The controller 100 for
controlling those devices is housed under the base 50.
[0027] The controller 100 mounts a memory 120 for storing various
programs and data, a communication interface 160 for exchanging
data with each part of the bill handling system 1, that is, a
transporter 200, a first arm 300, a second arm 400, a bill aligner
500, a third arm 700, a strapper 800, and the like, a CPU110 for
controlling the controller 100 according to various programs stored
in the memory 120 and for controlling each part of the bill
handling system 1 via the communication interface 160.
[0028] In particular, in the present embodiment, the controller 100
stores keyhole specification data 121, thickness and state
specification data 122, take-out judjment data 123, remaining
judjment data 124, error data 125, and the like in its memory
120.
[0029] More specifically, the keyhole specification data 121 stores
the image data and feature data of the keyhole for each type of
cash box. CPU110 of the controller 100 identifies the position of
the key hole of the cash box based on the captured images from the
second arm 400 by referring to the keyhole specification data
121.
[0030] The thickness and state specification data 122 stores image
data and characteristic data for determining the thickness of a
bundle of bills stored in the cash box 10. In particular, in the
present embodiment, the thickness and state specification data 122
also stores image data and characteristic data for judging the
degree of wrinkling or damage of the bill. It is preferable that
the image data and the characteristic data are prepared for each
type of the cash box 10 and the bill. CPU110 of the controller 100
identifies the thickness of the bill in the cash box 10 based on
the captured images from the second arm 400 by referring to the
thickness and status specification data 122.
[0031] The take-out judjment data 123 stores image data and
characteristic data of bills, which is being taked out, stored in
the cash box 10. It is preferable that the image data and the
characteristic data are prepared for each type of the cash box 10
and the bill. CPU110 of the controller 100 refers to the take-out
judjment data 123 to determine whether or not the bill stored in
the cash box 10 is normally pulled out to a predetermined position
by the second arm 400 based on the captured images from the second
arm 400.
[0032] The remaining judjment data 124 stores image data and
characteristic data for detecting that a bill remains in the cash
box 10 after the bills is taken out by the second arm 400. In the
present embodiment, the remaining judjment data 124 stores an image
and characteristic data for determining whether or not the bill can
be automatically taken out by the second arm or another device. It
is preferable that the image data and the characteristic data are
prepared for each type of the cash box 10 and the bill. CPU110 of
the controller 100 refers to the remaining judjment data 124 to
determine whether or not the bill remaining in the cashbox 10 can
be automatically taken out based on the captured images from the
second arm 400.
[0033] The error data 125 stores various kinds of information of
the case when an error occurs. For example, as shown in FIG. 4, the
error data 125 stores, each time an error occurs, the
identification information of the error, the date and time when the
error was detected, the identification information of the cash box
10 read from RFID of the cash box 10, the type of the cache box 10
read from RFID of the cache box 10, and information on an error
such as an image of the inside of the cache box 10 or an error type
for identifying the remaining state of the bill. In the present
embodiment, when CPU110 of the controller 100 determines that the
bill remains in the cash box 10 after the bill is taken out from
the cash box 10 by the second arm, CPU110 executes the error
process described below and accumulates the error data related the
error in the error data 125. This makes it possible to specify the
cause of the bills remaining in the cash box 10 and the type of the
cash box 10 in which the bills tend to remain.
Overview of the Overall Operation of the Bill Handling System 1
[0034] The overall operation of the bill handling system 1
according to the present embodiment are described below with
reference to FIG. 5.
[0035] Transporter 200, based on a command from the controller 100,
carries the cash box 10 (see FIG. 6) (step S002). The transporter
200 conveys the cashbox 10, which has been brought into from the
outside of the room in which the bill handling system 1 is
disposed, to the vicinity of the first arm 300. In this embodiment,
the transporter 200 has a first conveyor 201 and the second
conveyor 202 and the reverser 210 and RFID antenna 220 and the
transfer unit 230.
[0036] The controller 100 identifies the face having the keyhole 12
of the cash box 10, i.e., the face of the lid door 11 side, based
on the data from RFID antenna 220 (step S004). In the present
embodiment, RFID tags are attached to the face, that does not have
the keyholes 12, of the cashbox 10. Controller 100, based on a
signal from RFID antenna 220, when the antenna 220 detects RFID
tag, determines that there is a lid 11 and keyhole 12 on the
opposite surface, and passes the cash box 10 in the same posture to
the transfer unit 230. At this time, CPU110 of the controller 100
may specify the identification information, the type, and the like
of the cash box 10 based on the signals from RFID antennas 220.
[0037] In this embodiment, the transfer unit 230 passes the cash
box 10 from the first conveyor 201 to the second conveyor 202.
[0038] On the other hand, the controller 100, based on a signal
from RFID antenna 220, when the antenna 220 does not detect RFID,
determines that there is a lid 11 and keyhole 12 on the surface of
the antenna 220 side, and rotates the cash box 10 using the
reverser 210 in order that the surface faces the first arm 300 side
(step S006). Then, the controller 100 transfers the rotated cash
box 10 to the second conveyer 202. Also in this case, CPU110 of the
controller 100 may specify the identification information, the
type, and the like of the cash box 10 based on the signals from
RFID antennas 220.
[0039] Here, as shown in FIG. 7, the first arm 300 according to the
present embodiment has a key 330 for unlocking the lid 11 of the
cash box 10. The first arm 300, based on a command from the
controller 100, by driving the motor and actuator inside the arm
drive unit 320, moves the position of the key 330 in the front,
rear, left, right, up and down and rotates the key 330 to insert
the key into the keyhole 12 of the cash box 10. The first arm 300,
based on a command from the controller 100, unlocks the cash box 10
by rotating the key 330, and opens the lid 11 as it is.
[0040] Further, as shown in FIG. 8, the second arm 400 according to
the present embodiment has a grasping unit 430, and a camera 440.
The second arm 400, based on a command from the control unit 100,
by driving the motor and actuator inside the arm driving unit 420,
moves and rotates the camera 440 in the front, rear, left, right,
up, and down, photographs the lid 11 of the cash box 10, and
photographs the inside of the cash box 10. Further, the second arm
400, based on a command from the control unit 100, by driving the
motor and actuator inside the arm driving unit 420, moves and
rotates the grasping unit 430 in the front, rear, left, right, up,
and down, grabs the bills in the cash box 10, take out the bills,
and places the bills on the bill sorting apparatus 500. In
particular, in the present embodiment, the controller 100 executes
a process for detecting a remaining bill and a process for taking
out the bill, as described below.
[0041] Returning to FIG. 5, the controller 100 moves the cash box
10 to the front of the front of the first arm 300 using the
transporter 200. The controller 100, as shown in FIG. 6, captures a
front view of the cash box 10 with the camera 440 of the second arm
400 (step S008). The controller 100 identifies the position of the
key hole 12 based on the image data by referring to the keyhole
specification data 121 for each type of the cash box 10 (step
S010). The controller 100 controls the first arm 300 to move and
insert the key 330 into the keyhole 12. The controller 100 controls
the first arm 300 to rotate the key 330 (step S012). The controller
100 controls the first arm 300 to open the lid of the cashbox 10
(step S014).
[0042] As will be described in detail later, the controller 100
controls the second arm 400 to draw out the bills in the cash box
10 by referring to the thickness and status specification data 122
(step S016). The controller 100 controls the second arm 400 to
rotate the grasping unit 430 by 90 degrees to make the bill
vertical. The controller 100 controls the second arm 400 to place
the bill on the bill aligner 500.
[0043] The bill aligner 500 arranges bills based on a command from
the controller 100. That is, the bill aligner 500 aligns the
position of the edge of the bundle of bills (step S018). More
specifically, in the present embodiment, when the vertically
erected bills is placed by the second arm 400, the bill aligner 500
supports the bill from the side by a plate so that the bill does
not fall. Then, the bill aligner 500 applies vibration to the bills
by a vibrator (not shown) to align the positions of the bottom
surface and the side surface of the vertically erected bills. In
the present embodiment, the bill aligner 500 can also align the top
surface of the bills by pressing the bills from above with the
plate while vibrating the bills.
[0044] The controller 100 controls the second arm 400, which has
waited during the aligning of the bill, to grasp the aligned bill
again. The controller 100 controls the second arm 400 to place the
aligned bills on the insertion slot of the bill sorter 600. In the
present embodiment, the controller 100 controls the second arm 400
to push the bill placed in the insertion slot into the back by the
tip of the grasping unit 430. The bill sorter 600 determines each
type of the bills received from the second arm 400, and stores the
bill separately for each banknote type of bill (step S020).
[0045] In the present embodiment, the bill sorter 600 may reject
the bill that has failed to be sorted. When the bill sorter 600
rejects the bill (YES in step S022), the controller 100 controls
the third arm 700 to grasp the rejected bill by the grasping unit
730. The controller 100 controls the second arm 400 to receive the
rejected bill from the third arm 700 by the grip 430. Then, the
controller 100 places the bill on the insertion slot of the bill
sorter 600 again (step S020).
[0046] In the present embodiment, the bill sorter 600 displays the
number of sheets sorted and stored for each banknote type when
sorting the bills. The bill sorter 600 stops sorting when a
predetermined number of sheets, for example, 100 sheets, are
accumulated for each banknote type. In the present embodiment, a
camera is also mounted on the third arm 700, and the controller 100
acquires the number of sorted bills for each banknote type of bill
from an image photographed by the camera. The controller 100
controls the third arm 700 to grasp the bill by the grasping unit
730 when the number of the sorted bills of any of the banknote
types reaches a predetermined number, and delivers the bill to the
strapper 800. It is preferable to align the bills again by the bill
aligner 500 before the bills are delivered to the strapper 800.
[0047] The strapper 800 wraps the strap around the bundle of the
predetermined number of bills (step S024). The controller 100
controls the third arm 700 to grasp the bill wound with the band
and throw it into the storage box 900. In the present embodiment,
the storage boxes 900 are separated for each type of banknote. The
controller 100 controls the third arm 700 to throw the bill wound
with the band into the storage boxes 900 according to the type of
banknote (step S026).
[0048] As described above, in the bill handling system 1 according
to the present embodiment, since the bills can be automatically
taken out from the locked cash box 10 and the bills can be sealed
for each banknote type, the bills can be handled safer and more
conveniently than in the past.
Configuration of the Bill Taking-Out System 2
[0049] Hereinafter, the function of the bill taking-out system 2
for taking out bills from the cash box 10 will be described. The
bill taking-out system 2 according to the present embodiment mainly
includes a first arm 300, a second arm 400, a controller 100, and
the like.
[0050] In the present embodiment, in the step S014 and step S016 of
FIG. 5, when the cash box 10 is transported to the front of the
first arm 300 or the second arm 400 by the transport conveyor 202
of the discharge side, controller 100 identifies the position of
the keyhole 12 by photographing the surface of the cash box 10 by
the camera 440 of the second arm 400, as shown in FIG. 9, unlocks
the key 12 of the lid 11 of the cash box 10 by the first arm 300 to
open the lid 11.
[0051] Referring to FIG. 10, a subsequent control of the first arm
300 and second arm 400 by the controller 100 will be described
below in detail.
[0052] First, CPU110 of the controller 100 controls the second arm
400 via the communication interface 160 to instruct the camera 440
to move to the front of the cash box 10. CPU110 instructs the
second arm 400 to photograph the inside of the cash box 10 via the
communication interface 160. CPU110 identifies the thickness of the
bundle of bills B based on the image data from the camera 440 by
referring to the thickness and status specification data 122 of the
memory 120, and instructs the second arm 400 to extract the bills
Bin the cash box 10 via the communication interface 160 (step
S102).
[0053] CPU110 may specify not only the thickness of the bundle of
the bills B but also the degree of wrinkling or damage of the bills
B, based on the image data obtained from the camera 440, by
referring to the thickness and status specification data 122, and
may determine the drawing velocity of the bills B corresponding to
the degree of wrinkling or damage of the bills B. For example, in
the case where the degree of wrinkling or damage of the bill B is
large, it is possible to reduce damage to the bill B or to reduce
the possibility that the bill B slips down, by reducing the
draw-out speed. CPU110 instructs the second arm 400 to pull out the
bill B in the cash box 10 and instructs draw-out speed via the
communication interface 160.
[0054] As a result, as shown in FIG. 11, the second arm 400 grasps
the end of the bundle of bills B from the cash box 10 and starts to
extract the bundle of bills B to the front. That is, preliminary
drawing of the bill B is executed. As shown in FIG. 12, the
preliminary extraction of the bill B refers to an operation of
grasping the bill B and drawing the bill B forward by several cm.
This in turn allows the grasping unit 430 of the second arm 400 to
re-grip the central portion of the bill B.
[0055] CPU110 again instructs the second arm 400 to photograph the
inside of the cash box 10 via the communication interface 160 (step
S104). CPU110 refers to the take-out judjment data 123 stored in
the memory 120, and determines whether or not preliminary
extraction of the bill B from the cash box 10 has been completed
based on the image data from the camera 440 (step S106).
[0056] For the process of determining whether or not there is an
abnormality in the extraction of the bundle of bills, such as the
process of determining whether or not the preliminary extraction of
the bundle of bills has been performed smoothly, or the process of
determining whether or not the extraction of the bundle of bills
has been performed smoothly in the middle of the extraction of the
bundle of bills, the determination method by machine learning
typified by deep learning may be used in advance. For example, in
advance, a classifiable machine learning model is trained with
respect to an image group in which a bundle of bills is normally
drawn out and an image group in which a bundle of bills is drawn
out in various abnormal states. Then, CPU110 can realize step S108
by making these determinations using the trained machine-learning
models based on the image data from the center camera 440 of the
second arm 400.
[0057] When the preliminary extraction of the bill B from the cash
box 10 has not been completed (NO in step S106), CPU110 determines
whether or not an error has occurred in the preliminary extraction
process of the bill B based on the image data from the camera 440
or the measurement results from other sensors (step S108).
[0058] If no error has occurred in the preliminary extraction
processing of the bill B (NO in step S108), CPU110 repeats the
processing from step S104. When CPU110 determines that an error has
occurred in the preliminary extraction processing of the bill B
(YES in step S108), CPU110 instructs the second arm 400 to perform
the pushing-in processing of the bill B (step S110).
[0059] As a result, the second arm 400 moves the bill B to the back
of the cash box 10 while holding the bill B by the grip 430, and
then pushes the bill B into the back of the cash box 10 by the tip
of the grip 430. Then, CPU110 of the controller 100 repeats the
process from step S102.
[0060] When the preliminary extraction of the bill B from the cash
box 10 is completed (YES in step S106), CPU110 commands the second
arm 400 to re-grasp the central part of the bill B and completely
remove the bill B from the cash box 10, via the communication
interface 160 (step S112).
[0061] In the present embodiment, CPU110 is programmed to pull out
the bundle of bills to the end when CPU110 determines that the
preliminary extracting of the bundle of bills is normally
completed. CPU110 may, plural times, judge whether or not the
drawing of the bundle of bills is normally executed, or always
repeat the judgment as to whether or not the drawing of the bundle
of bills is normally executed, by repeating the photographing by
the camera 440, until the bundle of bills is completely taken out
from the cash box 10.
[0062] Upon receiving a signal from the second arm 400 indicating
that the removal of the bill B has been completed, CPU110 instructs
the second arm 400 to take an image of the inside of the cash box
10 via the communication interface 160 (step S114).
[0063] CPU110 determines whether or not the bill B remains in the
cash box 10 based on the image data from the camera 440 (step
S116). In the present embodiment, CPU110 refers to the remaining
judjment data 124 stored in the memory 120 and determines whether
or not the bill B remains in the cash box 10 based on a large
number of image data and feature data of the case in which the bill
B remains in the cash box 10. It is preferable that CPU110
determines whether or not the bill B remains in the cash box 10 by
using the remaining judjment data 124 for each type based on the
type of the cash box 10 acquired from RFID tags.
[0064] If no bill B remains in the cash box 10 (NO in step S116),
CPU110 ends the process of taking out the bill B from the cash box
10 this time. More specifically, CPU110 instructs, via the
communication interface 160, the second arm 400 to place the
grasped bill B on the bill aligner 500, or instructs the first arm
300 to close and lock the cover 11 of the cash box 10 (step S118).
Then, CPU110 instructs, via the communication interface 160, the
transporter 200 to carry out the empty cash box 10 after locking
(step S120). CPU110 proceeds to the bill taking-out process for the
following cash box 10.
[0065] On the other hand, when the bill B remains in the cash box
10 (YES in step S116), CPU110 refers to the remaining judgment data
124 stored in the memory 120, and determines whether or not the
bill B remaining in the cash box 10 can be automatically taken out
based on the image data from the camera 440 (step S122). In the
present embodiment, CPU110 refers to the remaining judgment data
124 stored in the memory 120, and determines whether or not the
second arm 400 can extract the bill B remaining in the cash box 10,
based on a large number of image data and characteristic data of
the case in which the second arm 400 can extract the bill B. It is
preferable that CPU110 judges whether or not the bill B remaining
in the cash box 10 can be automatically taken out by using the
remaining judgment data 124 for each type based on the types of the
cash boxes 10 acquired from RFID tags.
[0066] When the bill B remaining in the cash box 10 can be taken
out by the second arm 400 (YES in step S122), CPU110 instructs the
second arm 400 via the communication interface 160 to return the
currently grasped bill B into the cash box 10 (step S124), and
repeats the process from step S102. CPU110 may repeat the process
of placing the grasped bill B on the sorter and then again
determining the thickness and condition of the remaining bill B to
grasp the bill B. In the other word, CPU110 may repeat the process
from step S102.
[0067] When the second arm 400 cannot take out the bill B remaining
in the cash box 10 (NO in step S122), CPU110 executes an abnormal
termination process (step S126). For example, CPU110 instructs the
second arm 400 to place the currently grasped bill B on the bill
aligner 500 via the communication interface 160, then instructs the
first arm 300 to close and lock the cover 11 of the cashbox 10, or
causes the transporter 200 to convey the cash box 10 in which the
bill B remains to a predetermined area. In addition, CPU110 may
perform error notification. CPU110 proceeds to the bill take-out
process for the following cash box 10.
Second Embodiment
[0068] In the step S126, CPU110 may simply stop the bill taking-out
process and transmit an error notification to the terminal of the
administrator via the communication interface 160. In this case,
the terminal outputs a voice message indicating an error from the
speaker or displays information indicating an error on the display.
Alternatively, the controller 100 may emit a warning sound of an
error from a speaker or display information indicating the error on
a display.
Third Embodiment
[0069] Alternatively, as shown in FIG. 13, instead of the step
S124, CPU110 may instructs the second arm 400 to place the
currently grasped bill on the bill aligner 500 via the
communication interface 160, and then instructs the second arm 400
to grasp and remove the bill remaining in the cash box 10, or
instructs another apparatus to remove the bill remaining in the
cash box 10 (step S224). In addition, CPU110 may perform error
notification. Note that the bills remaining in the cash box 10 may
be placed on the bill aligner 500, or may be put into a specific
container or the like. Then, CPU110 proceeds to the bill take-out
process for the following cash box 10.
Forth Embodiment
[0070] In addition, the present invention is not limited to the
form in which processing of two stages of step S116 and step S122
is performed, and as shown in FIG. 14, CPU110 may determine whether
a state in which no bill remains in the cash box 10, a state in
which the bill remaining in the cash box 10 can be automatically
taken out, or a state in which the bill remaining in the cash box
10 cannot be automatically taken out, based on a large number of
image data of each state included in the remaining judgment data
124 stored in the memory 120, based on image data from the camera
440 taken in step S114 (step S316). CPU110 may determine, based on
the type of the cash box 10 acquired from RFID tag, by using the
remaining judgment data 124 for each type of the cash box 10,
whether a state in which there is no bill left in the cash box 10,
a state in which the bill remaining in the cash box 10 can be
automatically taken out, or a state in which the bill remaining in
the cash box 10 cannot be automatically taken out.
[0071] For the process of judging whether or not the bill can be
automatically taken out, a judgment method may include machine
learning typified by deep learning in advance. For example, a
classifiable machine learning model is trained in advance with
respect to an image group in which a bill normally remains in a
cash box and an image group in which a bill remains in various
abnormal states. Then, CPU110 can realize the step S122 by
performing the determination using the trained machine-learning
models based on the image data from the camera 440.
[0072] In addition, for the process of determining whether or not a
bill remains, a determination method may include machine learning
typified by deep learning. For example, a classifiable machine
learning model is trained in advance with respect to an image group
in which no bill remains in the cash box and an image group in
which the bill remains in various states. Then, CPU110 can realize
step S116 and S316 by performing the determination using the
trained machine-learning models based on the image data from the
camera 440.
[0073] When CPU110 determines that no bill remains in the cash box
10, CPU110 ends the bill taking-out process for the present cash
box 10. More specifically, CPU110 instructs, via the communication
interface 160, the second arm 400 to place the grasped bill on the
bill aligner 500, or instructs the first arm 300 to close and lock
the cover 11 of the cash box 10 (step S118). Then, CPU110
instructs, via the communication interface 160, the transporter 200
to carry out the empty cash box 10 after locking (step S120).
CPU110 proceeds to the bill taking-out process for the following
cash box 10.
[0074] When CPU110 determines that the bill remaining in the cash
box 10 can be taken out, CPU110 instructs the second arm 400 to
place the currently gripped bill on the bill aligner 500 and then
causes the second arm 400 to grasp and take out the bill remaining
in the cash box 10, or causes another apparatus to take out the
bill remaining in the cash box 10, via the communication interface
160 (step S224). In addition, CPU110 may perform error
notification. Note that the bills remaining in the cash box 10 may
be placed on the bill aligner 500, or may be put into a specific
container or the like. Then, CPU110 proceeds to the bill taking-out
process for the following cash box 10.
[0075] When the second arm 400 cannot take out the bills remaining
in the cash box 10, CPU110 executes an abnormal termination process
(step S126). For example, CPU110 instructs the second arm 400 to
place the currently grasped bill on the bill aligner 500, then
instructs the first arm 300 to close and lock the cover 11 of the
cash box 10, and causes the transporter 200 to convey the locked
cash box 10 in which the bill remains to a predetermined area, via
the communication interface 160. In addition, CPU110 may perform
error notification.
[0076] Naturally, CPU110 may simply stop the bill taking-out
process and send an error notification to the administrator's
terminal via the communication interface 160. In this case, the
terminal outputs a voice message indicating an error from the
speaker or displays information indicating an error on the display.
Alternatively, the controller 100 may output a warning sound of the
error from the speaker or display information indicating the error
on the display.
Fifth Embodiment
[0077] In addition to the configuration of the above embodiment,
the role of each device may be performed by another device, the
role of one device may be shared by a plurality of devices, or the
role of a plurality of devices may be performed by one device. For
example, as shown in FIG. 3, a part or all of the role or
processing of the controller 100 described above may be executed by
the arm controller 310 of the first arm 300 and the arm controller
410 of the second arm 400. Conversely, part or all of the role or
processing of the arm controller 310 of the first arm 300 and the
arm controller 410 of the second arm 400 may be carried by the
controller 100.
[0078] Alternatively, the role of the controller 100, the arm
controller 310 of the first arm 300, or the arm controller 410 of
the second arm 400 may be realized by a server or the like on the
cloud which can communicate with the controller 100 and various
devices via the Internet or the like.
Sixth Embodiment
[0079] In the above embodiment, the camera 440 is attached to the
second arm 400. However, the camera 440 may be attached to a third
arm separate from the grip 430.
[0080] Alternatively, the camera 440 may be attached to the first
arm 300 having the key 330.
[0081] Alternatively, the camera 440 may not move. That is, the
camera 440 may be fixed to a support member mounted on the table
50.
Overview
[0082] In the above embodiment, there is provided a bill handling
system including a camera, a grasping unit, and a control unit for
photographing the inside of the cash box by the camera after a bill
in the cash box is taken out by the grasping unit, determining
whether or not a bill remains in the cash box based on the
photographed image, and performing error processing when the bill
remains in the cash box.
[0083] Preferably, as the error processing, the control unit
determines whether or not the bill remaining in the cash box can be
taken out by the grasping unit based on the photographed image.
When it is determined that the bill remaining in the cash box can
be taken out by the grasping unit, the control unit retries the
processing of taking out the bill from the cash box. When it is
determined that the bill remaining in the cash box cannot be taken
out by the grasping unit, the control unit outputs an error
notification.
[0084] Preferably, as the error processing, the control unit
determines whether or not the bill remaining in the cash box can be
automatically taken out by the grasping unit or another device
based on the photographed image. When it is determined that the
bill remaining in the cash box can be automatically taken out by
the grasping unit or another device, the control unit executes a
process of automatically taking out the bill remaining in the cash
box by the grasping unit or another device. When it is determined
that the bill remaining in the cash box can not be automatically
taken out by the grasping unit or another device, the control unit
outputs an error notification.
[0085] Preferably, the control unit utilizes machine-learning
models trained by Artificial Intelligence to determine whether the
bills remaining in the cash boxes can be taken out.
[0086] Preferably, as the error processing, the control unit
interrupts the processing of taking out the bill from the cash box
and outputs an error notification.
[0087] Preferably, the bill handling system further includes an
acquiring unit for acquiring identification information for
identifying each of cash box or each type of cash box. When the
bill remains in the cash box, the control unit accumulates
information indicating that the bill remains in the cash box in
association with the identification information.
[0088] Preferably, the bill handling system further includes an
acquiring unit for acquiring identification information for
identifying each type of the cash box or each of the cash boxes.
The control unit determines whether or not the bill remains in the
cash box by using the identification information based on the
photographed image.
[0089] Preferably, when the bill in the cash box is taken out by
the grasping unit, the control unit photographs the inside of the
cash box by the camera, determines the degree of wrinkling or
damage of the bill in the cash box based on the photographed image,
and determines the withdrawal speed of the bill.
[0090] Preferably, the control unit utilizes the machine learning
model trained by the AI to determine whether the bill remains in
the cash box.
[0091] Preferably, while the bill in the cash box is being taken
out by the grasping unit, the control unit photographs the inside
of the cash box by the camera and determines whether the bill is
being taken out normally based on the photographed image. When the
bill is not normally taken out, the control unit performs the bill
taking out process again.
[0092] Preferably, the control unit uses the machine learning model
trained by the AI to determine whether or not the bill is been
taken out normally.
[0093] The embodiments disclosed herein are to be considered in all
aspects only as illustrative and not restrictive. The scope of the
present invention is to be determined by the scope of the appended
claims, not by the foregoing descriptions, and the invention is
intended to cover all modifications falling within the equivalent
meaning and scope of the claims set forth below.
REFERENCE SIGNS LIST
[0094] 1: Bill handling system [0095] 2: Bill removal system [0096]
10: Cash box [0097] 11: Lid door [0098] 12: Keyhole [0099] 12: Key
[0100] 50: Table [0101] 100: Controller [0102] 110: CPU [0103] 120:
Memory [0104] 121: Keyhole specification data [0105] 122: Thickness
and state identification data [0106] 123: Take-out judgment data
[0107] 124: Remaining judgment data [0108] 125: Error data [0109]
160: Communication Interface [0110] 200: Transporter [0111] 201:
First conveyor [0112] 202: Second conveyor [0113] 210: Reverser
[0114] 220: RFID antennas [0115] 230: Transfer unit [0116] 300:
First arm [0117] 310: Arm controller [0118] 330: Key [0119] 400:
Second arm [0120] 410: Arm controller [0121] 430: Grasping unit
[0122] 440: Camera [0123] 500: Bill aligner [0124] 600: Bill sorter
[0125] 700: Third arm [0126] 730: Grasping unit [0127] 800:
Strapper [0128] 900: Storage box [0129] B: Bill
* * * * *